vprdb.providers.depth_image_provider

 1#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
 2#
 3#  Licensed under the Apache License, Version 2.0 (the "License");
 4#  you may not use this file except in compliance with the License.
 5#  You may obtain a copy of the License at
 6#
 7#      http://www.apache.org/licenses/LICENSE-2.0
 8#
 9#  Unless required by applicable law or agreed to in writing, software
10#  distributed under the License is distributed on an "AS IS" BASIS,
11#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12#  See the License for the specific language governing permissions and
13#  limitations under the License.
14import cv2
15import open3d as o3d
16
17from dataclasses import dataclass
18from nptyping import Float, NDArray, Shape
19from pathlib import Path
20
21
22@dataclass(frozen=True)
23class DepthImageProvider:
24    """Depth image provider is a wrapper for depth images"""
25
26    path: Path
27    """Path to the file on the hard drive"""
28    intrinsics: NDArray[Shape["3, 3"], Float]
29    """Intrinsic camera parameters"""
30    depth_scale: int
31    """Depth scale for transforming depth"""
32
33    @property
34    def point_cloud(self) -> o3d.geometry.PointCloud:
35        """Returns Open3D point cloud constructed from depth image"""
36        depth_image = cv2.imread(str(self.path), cv2.IMREAD_ANYDEPTH)
37        height, width = depth_image.shape
38        depth_image = o3d.geometry.Image(depth_image)
39        intrinsics = o3d.camera.PinholeCameraIntrinsic(width, height, self.intrinsics)
40        point_cloud = o3d.geometry.PointCloud.create_from_depth_image(
41            depth_image,
42            intrinsics,
43            depth_scale=self.depth_scale,
44            depth_trunc=float("inf"),
45        )
46        return point_cloud